VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits

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We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.
Original languageEnglish
Pages (from-to)1055-1061
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number2
Early online date23 Jan 2017
Publication statusPublished - Apr 2017

Structured keywords

  • Tactile Action Perception


  • Mechanism Design of Mobile Robots
  • Multilegged Robots
  • Hexapod, Gait Modulation
  • Biologically-Inspired Robots


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